Single-axis actuators and plastering robots

Abstract

This application provides a single-axis actuator and a plastering robot, relating to the field of construction robot technology. The single-axis actuator includes a plastering board; a transverse rotating shaft to which the plastering board is fixed; a drive mechanism including an active component and a transmission assembly; and a support housing including a front wall, rear wall, top wall, bottom wall, and side wall, which together form an installation chamber, in which the active component is disposed. The support housing of the single-axis actuator provides an installation chamber for the drive mechanism, effectively providing sealing protection, allowing the drive mechanism to normally drive the transverse rotating shaft to rotate and adjust the angle of the plastering board. Simultaneously, by placing the active component within the installation chamber, the size can be effectively reduced compared to existing technologies. The plastering robot using this single-axis actuator is also more adaptable to operations in confined spaces, and due to the good sealing of the drive mechanism, reliable adjustment of the plastering board can be maintained.

Description

Technical Field

[0001] This application relates to the field of construction robot technology, and more specifically, to a single-axis actuator and a plastering robot. Background Technology

[0002] A plastering machine is a piece of equipment used for wall plastering. The plastering board of the plastering machine needs to be adjusted at the working angle between itself and the wall, and a corresponding angle adjustment drive device needs to be set up to achieve automatic adjustment so that the plastering board can make contact with the wall at a suitable working angle.

[0003] The existing drive unit has poor sealing performance, which causes the slurry to contaminate the drive unit during the plastering process. In order to improve the sealing performance of the drive unit, many sealing structures are also set up, resulting in the entire plastering execution end being too large and inconvenient to operate. Summary of the Invention

[0004] The purpose of this application is to provide a single-axis actuator that can improve the problems of poor sealing and excessive size of existing actuators.

[0005] Another object of this application is to provide a plastering robot that includes the above-mentioned single-axis actuator and has all the characteristics of the single-axis actuator.

[0006] The embodiments of this application are implemented as follows:

[0007] Embodiments of this application provide a single-axis actuator, comprising:

[0008] Plasterboard;

[0009] A horizontal pivot shaft is provided, and the plasterboard is fixed to the horizontal pivot shaft.

[0010] A drive mechanism, comprising a driving element and a transmission assembly; and

[0011] A support housing, the support housing including a front wall, a rear wall, a top wall, a bottom wall and a side wall, the front wall, the rear wall, the top wall, the bottom wall and the side wall forming an installation chamber, the active member being disposed in the installation chamber;

[0012] The top wall has a channel through which the transmission assembly passes. The output end of the active component is connected to the transverse rotating shaft through the transmission assembly and can drive the transverse rotating shaft to rotate, so that the plaster board rotates upward or downward.

[0013] An installation chamber is formed inside the support housing, and the driving component is then placed inside the installation chamber. The driving component is connected to the transverse rotating shaft via a transmission assembly to drive the plasterboard to rotate. Because the support housing provides shelter for the driving component, the sealing difficulty of the driving component is greatly reduced, preventing grout from contaminating the driving component and ensuring the normal rotation of the plasterboard. In addition, by housing the driving component inside the support housing, installation space is greatly saved, resulting in a small size and good sealing performance for the entire single-axis actuator.

[0014] In addition, the single-axis actuator provided according to the embodiments of this application may also have the following additional technical features:

[0015] In an optional embodiment of this application, the transmission assembly includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first synchronous pulley is connected to the output end of the driving member, the second synchronous pulley is connected to the transverse rotating shaft, and the first and second synchronous pulleys are connected by the synchronous belt, which passes through the channel.

[0016] By using a first synchronous pulley in conjunction with a synchronous belt and a second synchronous pulley, the transverse rotating shaft can be driven to rotate by the active component. The use of a synchronous belt allows the channel to be opened only to the size of the synchronous belt's movement, eliminating the need to make a larger channel to accommodate other components, thus reducing the difficulty of sealing.

[0017] In an optional embodiment of this application, the driving component is a drive motor, the length direction of the drive motor is in the same direction as the length direction of the mounting chamber, and the output shaft of the drive motor is coaxially connected to the shaft of the first synchronous pulley.

[0018] The drive motor enables rotational drive, and by aligning its length with that of the mounting chamber, the space within the chamber can be fully utilized, eliminating the need for a larger support housing to accommodate the motor. Furthermore, the output shaft of the drive motor is coaxially connected to the shaft of the first synchronous pulley, allowing the first synchronous pulley to also be aligned with the length of the mounting chamber without increasing the width of the support housing.

[0019] In an optional embodiment of this application, the single-axis actuator further includes an arc-shaped cover, which is fixed to the top wall and covers the second synchronous pulley, the synchronous belt, and the channel.

[0020] The arc-shaped cover prevents the slurry from contaminating the second synchronous pulley, synchronous belt, and channel, thus preventing contamination of the connected first synchronous pulley and other structures. In addition, covering the channel also prevents the slurry from falling into the installation chamber, avoiding contamination of components such as the drive mechanism inside the installation chamber.

[0021] In an optional embodiment of this application, the transverse rotating shaft is a hollow structure, and the rotating shaft of the second synchronous pulley is inserted into the inner cavity of the transverse rotating shaft and fixed to the inner cavity wall of the transverse rotating shaft.

[0022] The hollow structure of the transverse rotating shaft makes it easy to connect with the second synchronous pulley, and its hollow structure also makes it lighter and less inertial during rotation, making it easier to precisely control the flipping of the plasterboard.

[0023] In an optional embodiment of this application, the transverse rotating shaft includes a first sub-shaft and a second sub-shaft, the first sub-shaft and the second sub-shaft being coaxially arranged and respectively fixed to both ends of the rotating shaft of the second synchronous pulley.

[0024] By setting a first sub-shaft and a second sub-shaft, the second synchronous pulley can be placed in the middle area of ​​the entire support housing, instead of needing to be placed at both ends of the support housing. This avoids the large length of the entire single-axis actuator and helps to reduce the overall size of the single-axis actuator.

[0025] In an optional embodiment of this application, the rear wall is provided with a through groove, the through groove is connected to the mounting chamber, and the single-axis actuator further includes a linear drive module. The output end of the linear drive module passes through the through groove and is connected to the support housing in a transmission manner. The driving direction of the output end of the linear drive module is perpendicular to the working surface.

[0026] By setting up a linear drive module and opening a through slot at the output end of the linear drive module on the rear wall, the support housing can be driven forward to approach and abut against the working surface.

[0027] In an optional embodiment of this application, the single-axis actuator further includes a bellows cover, the linear drive module includes a mounting bracket and a linear drive component, the bellows cover is connected between the mounting bracket and the support housing and covers the through slot, and the output end of the linear drive component passes through the through slot and is drively connected to the support housing.

[0028] The linear drive unit can be connected to the support housing, and by setting a bellows cover to cover the connection area between the mounting bracket and the support housing, as well as the through groove, it can prevent slurry from entering and contaminating the components in the area covered by the bellows cover.

[0029] In an optional embodiment of this application, the single-axis actuator further includes a strip baffle, and the transverse rotating shaft has a gap between itself and the top wall in the vertical direction. The strip baffle is disposed on the top wall and seals the gap to prevent slurry from passing through the gap from front to back.

[0030] By setting up strip baffles, it is possible to prevent grout from splashing or flowing backward from the direction of the plasterboard, thereby reducing the sealing difficulty of the components behind the plasterboard of the single-axis actuator, simplifying the sealing structure, and reducing the size of the single-axis actuator.

[0031] Embodiments of this application provide a plastering robot, comprising:

[0032] Chassis;

[0033] Lifting device; and

[0034] According to any of the above-mentioned single-axis actuators, the lifting device is disposed on the chassis, and the support housing is connected to the output end of the lifting device.

[0035] By using a single-axis actuator, the plastering robot ensures that the plastering board makes appropriate contact with the wall surface at a suitable angle. Furthermore, the drive mechanism for driving the plastering board has excellent sealing properties, preventing any interference with the board's normal rotation. This also avoids requiring a large volume of space for the drive mechanism, allowing the entire plastering robot to be smaller and more suitable for indoor plastering operations. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram of a plastering robot provided for an embodiment of this application;

[0038] Figure 2 for Figure 1 Exploded view of a single-axis actuator in the image;

[0039] Figure 3 This is a schematic diagram showing the assembly of the plasterboard, the horizontal rotating shaft, the drive mechanism, and the supporting housing.

[0040] Figure 4 for Figure 3 Exploded view;

[0041] Figure 5 A schematic diagram showing the rear wall hidden to support the shell;

[0042] Figure 6 for Figure 3 A schematic diagram with the rear wall hidden;

[0043] Figure 7 for Figure 6A magnified view of part A;

[0044] Figure 8 This is a side view of the plasterboard, the horizontal pivot, and the supporting housing after they are assembled.

[0045] Figure 9 for Figure 8 A cross-sectional view along the BB direction.

[0046] Icons: 1000 - Plastering robot; 100 - Chassis; 200 - Lifting device; 300 - Single-axis actuator; 10 - Plastering board; 11 - First board; 12 - Second board; 20 - Lateral shaft; 21 - First sub-shaft; 22 - Second sub-shaft; 30 - Drive mechanism; 31 - Driving component; 32 - Transmission assembly; 321 - First synchronous pulley; 322 - Second synchronous pulley; 3221 - Expansion section; 323 - Synchronous belt; 3231 - Gear section; 324 - Gear structure; 33 - Coupling; 40 - Support housing; 41 - Front wall; 42 - Rear wall; 421 - Through groove; 422 - Front mounting surface of the bellows cover; 43-top wall; 431-channel; 432-connecting foot; 433-screw hole; 434-bolt head; 435-limiting block; 44-bottom wall; 45-side wall; 401-mounting chamber; 50-linear drive module; 51-mounting bracket; 52-linear drive component; 60-spraying and scraping mechanism; 70-baffle structure; 80-bellows cover; 90-vertical shaft; 91-slide seat; 92-guide block; 93-sliding block; 931-first part; 932-second part; 110-strip baffle; 120-base body; 130-arc cover; 140-bearing seat. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is conventionally placed during use. These terms are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0051] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0052] Example

[0053] Please refer to Figure 1 This application provides a plastering robot 1000, comprising:

[0054] Chassis 100;

[0055] Lifting device 200; and

[0056] A single-axis actuator 300 and a lifting device 200 are mounted on a chassis 100. The support housing 40 of the single-axis actuator 300 is connected to the output end of the lifting device 200.

[0057] The chassis 100 and the lifting device 200 can refer to the chassis 100 and lifting mechanism used in general plastering equipment, and will not be described in detail here.

[0058] In short, the plastering robot 1000, by using a single-axis actuator 300, ensures that the plastering board 10 has a suitable angle to contact the wall surface, and the drive mechanism 30 used to drive the plastering board 10 has good sealing performance, so as not to affect the normal rotation of the plastering board 10. At the same time, it avoids occupying a large volume for installing the drive mechanism 30. This allows the overall size of the plastering robot 1000 to be smaller, making it suitable for indoor plastering operations.

[0059] For specific details, please refer to... Figure 2 and Figure 3 The single-axis actuator 300 of this embodiment includes:

[0060] 10 plasterboards;

[0061] The horizontal pivot 20 is fixed to the plasterboard 10.

[0062] Drive mechanism 30, which includes a driving element 31 and a transmission assembly 32; and

[0063] The support housing 40 includes a front wall 41, a rear wall 42, a top wall 43, a bottom wall 44, and a side wall 45. The front wall 41, rear wall 42, top wall 43, bottom wall 44, and side wall 45 form an installation chamber 401. The active component 31 is disposed in the installation chamber 401.

[0064] The top wall 43 has a channel 431 through which the transmission component 32 passes. The output end of the active component 31 is connected to the transverse rotating shaft 20 through the transmission component 32 and can drive the transverse rotating shaft 20 to rotate, so that the plaster board 10 rotates upward or downward.

[0065] In addition, please combine Figure 1 and Figure 2 The single-axis actuator 300 in this embodiment further includes: a linear drive module 50 and a spray coating overflow mechanism 60. For ease of understanding, Figure 2 The locations of the structures on both sides after the explosion are marked.

[0066] The spraying and scraping mechanism 60 is installed on the top of the top wall 43. The top wall 43 has a rearward-protruding connecting foot 432, which supports and is fixedly connected to the spraying and scraping mechanism 60. The linear drive module 50 is installed on the rear side of the support housing 40, and a bellows cover 80 (described below) is provided between them. This ensures that the support housing 40, the linear drive module 50, and the intermediate components are not contaminated by the plastering slurry during the swinging and forward / backward movement of the support housing 40. The spraying and scraping mechanism 60 can refer to the spraying and scraping structure used in general plastering machines or integrated spraying and plastering machines, and will not be described in detail here. It should be noted that... Figure 2 The middle is hidden Figure 1 The single-axis actuator 300 has two side baffle structures 70.

[0067] In simple terms, the support housing 40 forms an installation chamber 401, and the driving element 31 is placed inside the installation chamber 401. The driving element 31 is connected to the transverse rotating shaft 20 through the transmission assembly 32 to drive the plaster board 10 to rotate. Since the support housing 40 can provide shelter for the driving element 31, the sealing difficulty of the driving element 31 is greatly reduced, preventing the mortar from contaminating the driving element 31 and ensuring the normal rotation of the plaster board 10. In addition, since the driving element 31 is housed inside the support housing 40, installation space can be greatly saved, making the entire single-axis actuator 300 small in size and with good sealing performance.

[0068] Please combine Figure 3 and Figure 4 In this embodiment, the rear wall 42 is provided with a through groove 421, which communicates with the mounting chamber 401. The output end of the linear drive module 50 passes through the through groove 421 and is connected to the support housing 40. The driving direction of the output end of the linear drive module 50 is perpendicular to the working surface, i.e., the front-to-back direction. By providing the linear drive module 50 and providing the through groove 421 for the output end of the linear drive module 50 in the rear wall 42, the support housing 40 can be driven forward to approach and abut against the working surface. Further, please refer to... Figure 2 The single-axis actuator 300 in this embodiment also includes a bellows cover 80. The linear drive module 50 includes a mounting bracket 51 and a linear drive component 52. The bellows cover 80 is connected between the mounting bracket 51 and the support housing 40 and covers the through slot 421. The output end of the linear drive component 52 passes through the through slot 421 and is drively connected to the support housing 40. Please refer to... Figure 3 and Figure 4 In this embodiment, the rear wall 42 is provided with a front mounting surface 422 of the accordion cover (distributed in the circumference of the through groove 421) to fix the accordion cover 80, and the rear side of the accordion cover 80 can be fixed with the mounting bracket 51.

[0069] The linear drive 52 can be connected to the support housing 40, and by providing a bellows cover 80 to cover the connection area between the mounting bracket 51 and the support housing 40, as well as the through groove 421, it can prevent slurry from entering and contaminating the components in the area covered by the bellows cover 80.

[0070] Please combine Figure 5 In this embodiment, the support housing 40 is rotatably connected to the output end of the linear drive module 50, and the rotation axis of the support housing 40 extends in the vertical direction. It should be noted that... Figure 5 Although the bottom wall 44 has holes for heat dissipation or to facilitate assembly, it is located downwards from the plastering robot 1000, so plastering slurry is unlikely to enter the installation chamber 401 from here, and the sealing requirements are not high. Of course, an additional sealing plate without holes can be added to enhance the seal, and the specific sealing can be determined according to the actual conditions of the working environment.

[0071] Furthermore, please combine Figure 3 and Figure 4 In this embodiment, the linear drive component 52 is an electric actuator. Of course, other linear drive components such as cylinders, hydraulic cylinders, and linear motors can also be used as the linear drive component 52 in this application, as long as the size is suitable for installation and does not affect the normal operation of the entire single-axis actuator 300 or the plastering robot 1000. Please continue to combine... Figure 5A vertical shaft 90 is provided on the support housing 40. Figure 9 (Also shown), the linear drive module 50 also includes a slide 91, a guide block 92, and a sliding block 93. The slide 91 is rotatably engaged with the vertical shaft 90, while the guide block 92 is fixed to the slide 91. The sliding block 93 is slidably disposed between the upper and lower guide blocks 92. The sliding block 93 has a first part 931 and a second part 932. The output end of the electric actuator directly abuts against the second part 932. When the electric actuator pushes the second part 932, the first part 931 moves synchronously and pushes the slide 91 forward. That is, the slide 91 performs linear motion, and since the vertical shaft 90 is rotatably connected to the slide 91, the support housing 40 can rotate relative to the output end of the linear drive module 50. Since the first part 931 of the sliding block 93 is relatively close to the vertical shaft 90, when the electric actuator is working, there is basically no offset torque between it and the vertical shaft 90, which allows the plaster board 10 to abut against the wall in the length direction.

[0072] Furthermore, when the electric actuator is working, the plaster board 10 moves towards the wall. When the plaster board 10 touches the wall, as the electric actuator moves further forward, the support housing 40 will drive the plaster board 10 to rotate in the left and right directions to fit the uneven wall surface.

[0073] Please combine Figure 3 and Figure 4 The single-axis actuator 300 of this embodiment also includes a strip baffle 110. The transverse rotating shaft 20 has a gap between itself and the top wall 43 in the vertical direction. The strip baffle 110 is disposed on the top wall 43 and seals the gap to prevent grout from flowing through it from front to back. By setting the strip baffle 110, it is possible to prevent grout from splashing or flowing backward from the location of the plasterboard 10, reducing the sealing difficulty of the components behind the plasterboard 10 of the single-axis actuator 300, simplifying the sealing structure, and reducing the size of the single-axis actuator 300. Specifically, the strip baffle 110 can also be disposed on the front side of the gap, as long as the sealing requirement is met. Of course, it can also be disposed on the rear side of the gap, as in the embodiment of this application. Where installation space permits, strip baffles 110 can be installed before and after the gap to prevent splashed or flowing slurry from entering the installation chamber 401 from the connection points between the rear wall 42 and the front wall 41, top wall 43, bottom wall 44, and side wall 45. This reduces the sealing requirements between the rear wall 42 and other walls, and improves the overall sealing performance with a simpler structural design.

[0074] Furthermore, the strip baffle 110 is mainly used vertically to seal gaps, while the horizontal part, after connecting with the top wall 43, can seal the rows of screw holes 433 and bolt heads 434 on the top wall 43. These screw holes 433 and bolt heads 434 are mainly used to fix components to be installed in the installation chamber 401, such as... Figure 7 The bearing housing 120 of the first synchronous pulley 321, as shown in the diagram, can be fixed to the support housing 40 by tightening bolts at the screw holes 433. The screw holes 433 that are not installed can be used to install other necessary additional components. The lateral portion sealing prevents slurry from contaminating the bolt heads 434, which would hinder subsequent disassembly and maintenance, and also prevents slurry from entering the mounting chamber 401 through the screw holes 433 and contaminating the internal components.

[0075] Please combine Figures 6 to 9 In this embodiment, the transmission assembly 32 includes a first synchronous pulley 321, a second synchronous pulley 322, and a synchronous belt 323. The first synchronous pulley 321 is connected to the output end of the driving member 31, and the second synchronous pulley 322 is connected to the transverse rotating shaft 20. The first synchronous pulley 321 and the second synchronous pulley 322 are connected by the synchronous belt 323, which passes through the channel 431. Figure 8 It shows Figure 9 The cutting path; in addition, the specific structure of the plasterboard 10 can be referenced. Figure 8 As shown, the plastering board 10 in this embodiment is divided into a first board 11 and a second board 12. The first board 11 is used for wall work, while the second board 12 is fixed to the horizontal pivot 20. The first board 11 and the second board 12 can be designed as a detachable connection structure. When the first board 11 has been used for a certain period of time or has been worn to a certain extent, the first board 11 can be replaced separately, reducing the difficulty of maintenance and replacement of the entire plastering board 10. In addition, a limiting block 435 can be set on the top wall 43 to limit the rotation limit of the second board 12, preventing the plastering board 10 from being damaged and also preventing the top wall 43 from being damaged, which would affect the sealing effect in the installation chamber 401.

[0076] By using the first synchronous pulley 321 in conjunction with the synchronous belt 323 and the second synchronous pulley 322, the transverse rotating shaft 20 can be driven to rotate by the active component 31. The use of the synchronous belt 323 allows the channel 431 to be opened only to the size of the synchronous belt 323, without the need to make a larger channel 431 to accommodate other components, thus reducing the difficulty of sealing.

[0077] In this embodiment, the active component 31 is a drive motor, such as... Figure 9As shown, the length direction of the drive motor is the same as the length direction of the mounting chamber 401, and the output shaft of the drive motor is coaxially connected to the shaft of the first synchronous pulley 321. In this embodiment, the output shaft of the drive motor is connected to the shaft of the first synchronous pulley 321 through a coupling 33. The drive motor can achieve rotational drive, and by arranging the length direction of the drive motor along the length direction of the mounting chamber 401, the space of the mounting chamber 401 can be fully utilized, and it is not necessary to make the support housing 40 larger to accommodate the drive motor. In addition, since the output shaft of the drive motor is coaxially connected to the shaft of the first synchronous pulley 321, the first synchronous pulley 321 can also be arranged along the length direction of the mounting chamber 401, without increasing the volume of the support housing 40 in the width direction.

[0078] In this embodiment, both the first synchronous pulley 321 and the second synchronous pulley 322 have gear structures 324 on their circumferences, and the inner ring of the synchronous belt 323 has teeth 3231, which can achieve precise transmission and avoid slippage. When the drive motor rotates forward or reverses and stops, the meshing of the gears and teeth 3231 ensures that the transverse shaft 20 will not rotate, thus maintaining the angle between the plasterboard 10 and the wall surface in accordance with the operational requirements. Furthermore, this embodiment designs the first synchronous pulley 321 and the second synchronous pulley 322 to have the same wheel diameter, which allows the rotation angle of the drive motor's output shaft to be accurately transmitted to the transverse shaft 20, thereby better controlling the rotation angle of the transverse shaft 20. Of course, when the wheel diameters of the first synchronous pulley 321 and the second synchronous pulley 322 are inconsistent, the rotation angle of the drive motor's output shaft can be further adjusted by calculating the corresponding transmission ratio, so that the final rotation angle of the plasterboard 10 is still accurately controlled.

[0079] Please combine Figure 3 and Figure 4The single-axis actuator 300 in this embodiment also includes an arc-shaped cover 130, which is fixed to the top wall 43 and covers the second synchronous pulley 322, the synchronous belt 323, and the channel 431. It should be noted that the arc-shaped cover 130 needs to avoid the aforementioned strip baffle 110 to prevent interference with its installation. The arc-shaped cover 130 in this embodiment is generally U-shaped and fits as closely as possible to the two adjacent bearing seats 140 used by the first sub-shaft 21 and the second sub-shaft 22 as described below. It protects the portion of the synchronous belt 323 above the channel 431, as well as the second synchronous pulley 322 and the bearing seats 140, preventing slurry from contaminating the components. That is, by covering the second synchronous pulley 322, the synchronous belt 323 and the channel 431, the arc-shaped cover 130 can prevent the slurry from contaminating the second synchronous pulley 322 and the synchronous belt 323, thereby contaminating the connected first synchronous pulley 321 and other structures. In addition, covering the channel 431 can also prevent the slurry from falling into the installation chamber 401 from the channel 431, thus avoiding contamination of components such as the drive component 31 in the installation chamber 401.

[0080] Please combine Figure 9 In this embodiment, the transverse rotating shaft 20 has a hollow structure. The shaft of the second synchronous pulley 322 is inserted into the inner cavity of the transverse rotating shaft 20 and fixed to the inner cavity wall. The hollow structure of the transverse rotating shaft 20 facilitates connection with the second synchronous pulley 322, and its hollow structure also makes it lighter, with less inertia during rotation, making it easier to precisely control the flipping of the plasterboard 10. For details, please refer to... Figure 6 and Figure 9 In this embodiment, the transverse rotating shaft 20 includes a first sub-shaft 21 and a second sub-shaft 22. The first sub-shaft 21 and the second sub-shaft 22 are coaxially arranged and respectively fixed to both ends of the rotating shaft of the second synchronous pulley 322. A bearing seat 140 is provided on the top wall 43, and both ends of the first sub-shaft 21 and the second sub-shaft 22 are rotatably disposed in the bearing seat 140. By setting the first sub-shaft 21 and the second sub-shaft 22, the second synchronous pulley 322 is positioned in the middle region of the entire support housing 40, instead of needing to be positioned at both ends of the support housing 40, thereby avoiding a large length dimension of the entire single-axis actuator 300 and helping to reduce the overall size of the single-axis actuator 300. In this embodiment, both ends of the rotating shaft of the second synchronous pulley 322 are enlarged portions 3221, which can be interference-fitted with the inner cavity walls of the first sub-shaft 21 and the second sub-shaft 22 to complete the connection. Figure 9 Taking the perspective of the left side as an example, the enlarged part 3221 on the left side can be designed as an integral part with the main body of the rotating shaft, while the enlarged part 3221 on the right side is designed to be detached for easy assembly.

[0081] During operation, the chassis 100 of the plastering robot 1000 moves the single-axis actuator 300 to the wall surface. The drive mechanism 30, according to operational needs, transmits driving force to the transverse rotating shaft 20 via the first synchronous pulley 321, synchronous belt 323, and second synchronous pulley 322, causing the plastering board 10 to rotate and adjust to a suitable angle for plastering. When the lifting device 200 changes the working height of the single-axis actuator 300, the angle of the plastering board 10 can also be adjusted according to construction requirements to ensure the plastering effect meets expectations. Furthermore, when the wall surface is uneven vertically, the plastering board 10 can be adjusted by changing the drive motor to adapt to variations in wall flatness. The horizontal pivot 20 can adjust the pitch angle of the plaster board 10, while the linear drive 52, together with the sliding block 93 and the slide seat 91, pushes the support housing 40. Combined with the action of the vertical axis 90, the plaster board 10 can swing left and right to match the flatness changes of the wall surface in the left and right directions. In this way, the plaster board 10 can always keep in contact with the wall surface to obtain better plastering quality.

[0082] During this process, since the drive motor is located inside the mounting chamber 401, and with the rear wall 42 sealing the drive motor, its operation is not affected by external slurry and can maintain normal operation. Furthermore, the strip baffle 110 and arc-shaped cover 130 structures further designed in this embodiment can prevent slurry from entering the mounting chamber 401 and affecting the drive motor's operation. Also, since the transmission component 32 is also protected, the entire drive mechanism 30 can maintain good sealing performance to achieve continuous and compliant adjustment. In addition, while fulfilling the function of the plasterboard 10 abutting against the wall, this embodiment uses a bellows cover 80 for further protection, preventing slurry from entering the mounting chamber 401 from the through groove 421, further improving the overall sealing performance of the single-axis actuator 300.

[0083] Furthermore, since the drive motor is located within the mounting chamber 401, and parts of the first synchronous pulley 321 and synchronous belt 323 are also located within the mounting chamber 401, the entire drive mechanism 30 occupies a relatively small space. Compared to the drive device of a typical plastering machine actuator, it saves a significant amount of space, which is beneficial for operations in confined spaces. In existing building construction, indoor plastering work spaces are limited, so the overall size of the plastering robot 1000 cannot be too large, and the corresponding actuator size cannot be too large either. Otherwise, it may lead to instability or inability to pass through narrow spaces such as doorways or corridors, or it may prevent automated plastering operations in confined spaces. Therefore, the actuator design should minimize its size as much as possible. This embodiment achieves excellent results with a small size and good sealing effect through the above design, which has practical application significance.

[0084] In summary, the support housing 40 of the single-axis actuator 300 of this application provides an installation chamber 401 for the drive mechanism 30, effectively providing sealing protection. This allows the drive mechanism 30 to normally drive the transverse rotating shaft 20 to rotate and adjust the angle of the plastering board 10. Simultaneously, by placing the active component 31 within the installation chamber 401, the overall volume of the single-axis actuator 300 can be effectively reduced compared to existing technologies. The plastering robot 1000 using this single-axis actuator 300 can also be more adaptable to operations in confined spaces, and due to the good sealing of the drive mechanism 30, it can maintain reliable adjustment of the plastering board 10 during long-term operation.

[0085] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A single shaft actuator characterized by, include: Plasterboard; A horizontal pivot shaft is provided, and the plasterboard is fixed to the horizontal pivot shaft. The drive mechanism includes a driving component and a transmission assembly; as well as A support housing, the support housing including a front wall, a rear wall, a top wall, a bottom wall and a side wall, the front wall, the rear wall, the top wall, the bottom wall and the side wall forming an installation chamber, the active member being disposed in the installation chamber; The top wall has a channel for the transmission assembly to pass through, and the output end of the driving component is connected to the transverse rotating shaft through the transmission assembly and can drive the transverse rotating shaft to rotate, so that the plaster board rotates upward or downward. The single-axis actuator also includes a linear drive module; A vertical shaft is provided on the support housing. The linear drive module includes a linear drive component, a slide block, a guide block, and a sliding block. The slide block is rotatably engaged with the vertical shaft. The guide block is fixed to the slide block. The sliding block is slidably disposed between the upper and lower guide blocks. The sliding block has a first part and a second part. The output end of the linear drive component directly abuts against the second part. When the linear drive component pushes the second part, the first part moves synchronously and pushes the slide block forward.

2. The single shaft actuator of claim 1, wherein, The transmission assembly includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first synchronous pulley is connected to the output end of the driving member, and the second synchronous pulley is connected to the transverse rotating shaft. The first and second synchronous pulleys are connected by the synchronous belt, which passes through the channel.

3. The single shaft actuator of claim 2, wherein, The driving component is a drive motor, the length direction of which is the same as the length direction of the mounting chamber, and the output shaft of the drive motor is coaxially connected to the shaft of the first synchronous pulley.

4. The single shaft actuator of claim 2, wherein, The single-axis actuator also includes an arc-shaped cover, which is fixed to the top wall and covers the second synchronous pulley, the synchronous belt, and the channel.

5. The single shaft actuator of claim 2, wherein, The transverse rotating shaft is a hollow structure, and the shaft of the second synchronous pulley is inserted into the inner cavity of the transverse rotating shaft and fixed to the inner cavity wall of the transverse rotating shaft.

6. The single shaft actuator of claim 5, wherein, The transverse rotating shaft includes a first sub-shaft and a second sub-shaft, which are coaxially arranged and respectively fixed to both ends of the rotating shaft of the second synchronous pulley.

7. The single shaft implement of claim 1, wherein, The rear wall has a through groove that communicates with the mounting chamber. The output end of the linear drive module passes through the through groove and is connected to the support housing. The driving direction of the output end of the linear drive module is perpendicular to the working surface.

8. The single shaft implement of claim 7, wherein, The single-axis actuator also includes a bellows cover, and the linear drive module also includes a mounting bracket. The bellows cover is connected between the mounting bracket and the support housing and covers the through slot. The output end of the linear drive unit passes through the through slot and is connected to the support housing in a transmission manner.

9. The single shaft implement of claim 1, wherein, The single-axis actuator also includes a strip baffle. The transverse rotating shaft has a gap between itself and the top wall in the vertical direction. The strip baffle is disposed on the top wall and seals the gap to prevent slurry from passing through the gap from front to back.

10. A troweling robot, characterized in that, include: Chassis; Lifting device; as well as The single shaft actuator according to any one of claims 1-9, wherein the lifting device is disposed on the base plate, and the support housing is connected to an output end of the lifting device.

Images